Koch M, Leyendecker S (2013)
Publication Language: English
Publication Type: Journal article
Publication year: 2013
Publisher: Springer Verlag (Germany)
Book Volume: 29
Pages Range: 381-401
Journal Issue: 4
DOI: 10.1007/s11044-012-9332-9
This work considers the optimal control of multibody systems being actuated with control forces which impact the system's motion directly. The goal is to find a dynamically feasible trajectory of states and controls leading from an initial to a desired final state, while minimizing an objective function. The optimal control problem is solved by using a direct transcription method, i.e., boundary conditions and a discrete version of the equations of motion serve as constraints for the minimization of a cost function with respect to the discrete state and control trajectory. Here, a particular time stepping scheme, an energy momentum integrator based on discrete derivatives is used. Corresponding to a constrained formulation of multibody systems, we develop an energy momentum consistent discrete force formulation that fits into the energy momentum integrator. © 2012 Springer Science+Business Media Dordrecht.
APA:
Koch, M., & Leyendecker, S. (2013). Energy momentum consistent force formulation for the optimal control of multibody systems. Multibody System Dynamics, 29(4), 381-401. https://doi.org/10.1007/s11044-012-9332-9
MLA:
Koch, Michael, and Sigrid Leyendecker. "Energy momentum consistent force formulation for the optimal control of multibody systems." Multibody System Dynamics 29.4 (2013): 381-401.
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